CN112644705B

CN112644705B - Traction type ram parafoil capable of being ejected and recovered

Info

Publication number: CN112644705B
Application number: CN202011587371.6A
Authority: CN
Inventors: 刘松林; 朱靖
Original assignee: Shenzhen Baichuan Rongchuang Technology Co ltd
Current assignee: Shenzhen Baichuan Rongchuang Technology Co ltd
Priority date: 2020-12-28
Filing date: 2020-12-28
Publication date: 2022-03-01
Anticipated expiration: 2040-12-28
Also published as: CN112644705A

Abstract

The invention provides a traction type stamping parafoil capable of being ejected and recovered, which can eject the parafoil into the air through an ejection recovery device and can be automatically retracted and released. The method comprises the following steps: the device comprises a parafoil, a folding and unfolding device, a rope combing claw and an ejection recovery device; the retraction device pulls the parafoil through a photoelectric mooring cable; the left side and the right side of the ejection recovery device are respectively provided with a rope combing claw, and the two rope combing claws are respectively connected with the ejection recovery device through guide ropes; the rope combing claw is used for combing the parachute ropes and dragging the parachute ropes to slide to the ejection recovery device on the load cabin through the guide rope; the ejection recovery device is used for realizing ejection recovery of the parafoil. The parafoil directly utilizes the stamping parafoil rope as the ejection recovery rope, so that the parafoil is easier to open, and the ejection efficiency and success rate can be improved; the parachute cords are combed through the combing cord claws, so that the parachute cords are prevented from being wound; the recovery direction of the parafoil can be effectively controlled through the folding and unfolding rope in the parafoil, and the recovery direction and consistency of the parafoil are ensured.

Description

Traction type ram parafoil capable of being ejected and recovered

Technical Field

The invention relates to a traction type parafoil, in particular to a traction type stamping parafoil capable of being ejected and recovered.

Background

Monitoring and detecting equipment on the ship are mostly adopted in traditional marine environment monitoring and detection, and as the parafoil that can make full use of offshore wind power stagnate for a long time, monitoring and detecting equipment on the ship are compared, and the influence of earth curvature can be reduced, and detection distance is farther, and monitoring efficiency and scope are wider, and the advantage is more outstanding.

The ram parachute has good lift-drag ratio, glide ratio and controllability, and is widely applied. The existing stamping parafoil adopts a dragging mode for parachute opening, the requirement on parachute opening sites is high, otherwise the parafoil is easily scraped and abraded by the ground to damage the parafoil, so that the flight is unsafe or the service life of the parafoil is reduced; and the existing ram parafoil does not have the function of ejection recovery.

Disclosure of Invention

In view of the above, the present invention provides a retractable ram parachute which can be ejected and retracted, and the parachute can be ejected into the air by an ejection and retraction device.

The traction type ram parachute capable of being ejected and recovered comprises: the device comprises a parafoil, a folding and unfolding device, a rope combing claw and an ejection recovery device; the retraction device pulls the parafoil through a photoelectric mooring cable;

the parafoil comprises: the canopy, the left parafoil rope group, the right parafoil rope group and the load cabin; the canopy is connected with the load cabin through a left parafoil rope group and a right parafoil rope group respectively;

the ejection recovery device is arranged in the load cabin or on the upper end surface of the load cabin, and when the ejection recovery device is arranged in the load cabin, an opening is formed in the position, corresponding to the ejection recovery device, on the upper surface of the load cabin;

the left side and the right side of the ejection recovery device are respectively provided with a rope combing claw, the two rope combing claws are respectively connected with the ejection recovery device through guide ropes, and the rope combing claws are used for combing the parachute ropes and drawing the parachute ropes to move to the ejection recovery device on the load cabin through the guide ropes;

the ejection recovery device comprises: the elastic frame, the folding and unfolding rope in the parafoil, the guide rope, the elastic plate and the elastic cloth; the elastic frame is arranged on the surface of the load cabin or in the load cabin; the elastic frame is of a hollow frame structure, elastic plates are arranged at the center positions of the left side and the right side in the elastic frame, and the front side and the rear side of each elastic plate are connected with the front side and the rear side of the elastic frame through elastic ropes of the elastic plates;

elastic cloth is arranged on the opposite sides of the two elastic plates, and the front edge and the rear edge of the elastic cloth are connected with the front side and the rear side of the elastic frame through elastic ropes of the elastic cloth;

meanwhile, the left side of the elastic cloth positioned on the left side is connected with the left side of the elastic frame through an elastic cloth elastic rope, and the right side of the elastic cloth positioned on the right side is connected with the right side of the elastic frame through an elastic cloth elastic rope;

the center of the elastic plate is provided with a left elastic plate limiting hole which is used for being matched with a fixing ring on the corresponding side rope combing claw; the guide rope is used for guiding the rope combing claw to move to the elastic plate on the corresponding side;

the folding and unfolding rope in the parafoil comprises: the device comprises more than one left folding and unfolding rope and more than one right folding and unfolding rope, wherein folding and unfolding mechanisms are arranged in rope combing claws at the left side and the right side of the ejection and recovery device; one end of each of the left folding and unfolding rope and the right folding and unfolding rope is respectively connected with the end parts of the left end and the right end of the parafoil, and the other end of each of the left folding and unfolding rope and the right folding and unfolding rope is respectively connected with a folding and unfolding mechanism in the corresponding side combing rope claw; the folding and unfolding rope in the parafoil is folded and unfolded through the folding and unfolding mechanism, so that the parafoil is folded and unfolded;

the parachute ropes are used as ejection recovery traction ropes, each parachute rope is provided with a parachute knot, a rope knot buckle is arranged at the parachute knot, and the parachute knots are limited in a center hole of the rope knot buckle.

As a preferable mode of the present invention, the twine comb comprises: the cross well wheel plate, the fixed claw and the fixed ring;

the cross well wheel plate is fixedly provided with cross well wheels which correspond to the wing umbrella ropes in the corresponding wing umbrella rope groups one by one, and the wing umbrella ropes penetrate through the corresponding cross well wheels on the cross well wheel plate;

the fixed claw is an elastic claw; one end of the fixed claw is connected with the cross well wheel plate, and the other end of the fixed claw is connected with the fixed ring.

As a preferred mode of the invention, the middle positions of the left side edge and the right side edge of the elastic frame are respectively provided with a parafoil rope left fixing bolt and a parafoil rope right fixing bolt; the parafoil rope in the left parafoil rope group is combed by a combing rope claw positioned on the left side of the ejection recovery device and then is connected with a parafoil rope left fixing bolt; the parafoil rope in the right parafoil rope group is combed by the combing rope claw positioned on the right side of the ejection recovery device and then is connected with the right fixing bolt of the parafoil rope.

As a preferable mode of the invention, one end of the guide rope is connected with the rope combing claw, the other end of the guide rope passes through the elastic plate limiting hole corresponding to the center of the side elastic plate, then, the left guide rope and the right guide rope are converged into a strand of rope, the strand of rope passes through the support located at the middle position of the elastic frame and is connected with the guide rope reel arranged on the load cabin, and the retraction of the guide rope is controlled by the guide rope reel.

In a preferred embodiment of the present invention, the guide cord is a cable that can supply power to the retracting mechanism in the cord combing claw.

In a preferred mode of the present invention, the bracket located at the middle of the elastic frame is a concave bracket.

In a preferred aspect of the present invention, the photovoltaic mooring line includes: the optical cable comprises an outer sheath, a cable, an optical cable, a tensile rope joint and an optical cable joint;

the tensile rope is arranged inside the outer sheath and used for bearing tensile force; arranging more than one optical cable and more than one electric cable in an annular cavity between the tensile rope and the outer sheath, then filling fillers in the annular cavity, and protecting the optical cable and the electric cable through the fillers to enable the optical cable and the electric cable to be mutually isolated and positioned;

both ends of the optical cable are provided with a tensile rope joint and an optical cable joint; the tensile rope joint is connected with the tensile rope in the outer sheath, and the optical cable joint is a photoelectric conversion joint connected with the cable and the optical cable in the outer sheath.

As a preferred aspect of the present invention, the automatic retraction device includes: the photoelectric mooring cable comprises an electric control unit, a cable winding and unwinding unit, a cable arranging unit and a traction mechanism, wherein one end of the photoelectric mooring cable is wound on a wire coil of the cable winding and unwinding unit, and the other end of the photoelectric mooring cable sequentially passes through the cable arranging unit and the traction mechanism and then is connected with a load cabin of the parafoil; the cable winding and unwinding unit and the traction mechanism are mounted on a base, and the cable arrangement unit is supported above the cable winding and unwinding unit; and the electric control unit controls the automatic retraction of the photoelectric mooring cable by controlling the cable retraction unit, the cable arrangement unit and the traction mechanism.

As a preferred mode of the invention, the photoelectric mooring cable is connected with the load cabin of the parafoil through a bearing photoelectric composite rotary joint;

the bearing photoelectric composite rotary joint comprises: the device comprises a tension sensor, a photoelectric slip ring and a force bearing part; the photoelectric slip ring is provided with a photoelectric interface; the optoelectronic slip ring comprises: the rotor and the stator, the stator end of which is provided with a bearing part, one end of the bearing part is fixedly connected with the stator of the photoelectric slip ring, and the other end is connected with the photoelectric mooring cable; the rotor of the photoelectric slip ring is connected with the hanging point connecting piece through a tension sensor; and the hanging points on the hanging point connecting pieces are connected with the mooring points on the load cabin.

As a preferred mode of the present invention, a cable releasing mechanism is disposed in the automatic winding and unwinding device, and the cable releasing mechanism is disposed at a cable outlet of the traction mechanism;

the cable laying mechanism comprises: the photoelectric mooring cable is sequentially penetrated through cable penetrating holes in the middles of the well-shaped wheels; and along the cable outlet direction of the photoelectric mooring cable, the diameter of the cable through hole in the middle of each well-shaped wheel is gradually increased.

As a preferred mode of the present invention, in the cable-laying mechanism, the "cross-shaped wheel" includes a roller bracket, four roller shafts, and four straight rollers, each straight roller is supported on the roller bracket by one roller shaft, the four straight rollers are distributed in a cross shape, that is, the four straight rollers are divided into two transverse rollers and two longitudinal rollers, a hole formed between the two transverse rollers and the two longitudinal rollers is a cable-passing hole, the photoelectric mooring cable passes through the cable-passing hole, and the photoelectric mooring cable can freely rotate in the cable-passing hole.

As a preferred mode of the invention, the lower wing surface at the central part of the parafoil is provided with a rope-collecting buckle which is in one-to-one correspondence with the folding and unfolding ropes in the parafoil, and each parafoil rib is provided with a rope-collecting buckle; and the left folding and unfolding rope and the right folding and unfolding rope pass through the rope folding buckles on the lower wing surface of the central part of the parafoil and then respectively pass through the rope folding buckles on the rib pieces of the parafoil on the left side and the rope folding buckles on the rib pieces of the parafoil on the right side and then are connected with the folding and unfolding mechanisms in the rope combing claws on the corresponding sides.

Has the advantages that:

(1) the ram parachute cord is directly used as the ejection recovery cord, so that the parachute is easy to open, and the ejection efficiency and success rate can be improved;

(2) the parachute cords are combed through the combing cord claws, so that the parachute cords are prevented from being wound; the recovery direction of the parafoil can be effectively controlled through the folding and unfolding rope in the parafoil, and the recovery direction and consistency of the parafoil are ensured.

(3) The cable releasing mechanism is arranged in the cable releasing device, so that the mooring cable can pull the parafoil to any direction, and the damage caused by the over-small bending angle of the mooring cable can be avoided.

(4) The photoelectric composite rotary joint can improve the tensile capacity of the photoelectric composite rotary joint by arranging the bearing component, so that the photoelectric composite rotary joint can bear large tension load and alternating tension load while dynamically and rotatably transmitting photoelectric signals; the photoelectric composite rotary joint is internally provided with the tension sensor, so that the tension can be monitored in real time.

(5) Through improving the structure of photoelectric mooring cable, with its pulling force bearing part and signal transmission part separation, can improve photoelectric mooring cable's tensile ability, and do not influence its photoelectric transmission performance.

Drawings

FIG. 1 is a schematic structural view of a trailing ram parafoil of the present invention;

wherein: 1-canopy, 2-parachute ropes, 3-photoelectric mooring cables, 4-parachute rope knots, 5-load cabin and 6-retraction device;

FIG. 2 is a schematic view of the connection of the rope combing claw and the ejection recovery device;

wherein: 15-combing rope claw and 17-ejection recovery device

FIG. 3 is a schematic structural view of a rope combing claw;

wherein: 9-cross well wheel plate, 10-fixed claw, 11-fixed ring, 12-fixed ring jack and 13-cross well wheel hole;

FIG. 4 is a schematic structural diagram of the ejection recovery device;

wherein: 51-elastic frame, 52-right elastic plate, 53-right elastic plate elastic rope, 54-concave bracket, 55-middle elastic rope, 56-left elastic plate, 57-left elastic plate elastic rope, 58-left elastic cloth elastic rope, 59-left fixing bolt of wing umbrella rope, 60-left guide rope, 61-left elastic cloth, 62-left elastic plate limiting hole, 63-concave bracket middle hole, 64-right elastic plate limiting hole, 65-right elastic cloth, 66-right guide rope, 67-right elastic cloth elastic rope, 68-right fixing bolt of wing umbrella rope

FIG. 5 is a schematic view of the rope-closing position of the parafoil;

118-parafoil rib, 119-lower wing surface, 20-rope-retracting buckle

FIGS. 6 and 7 are schematic structural views of a photovoltaic mooring line;

wherein: 25-cable, 26-optical cable, 27-outer sheath, 28-filler, 29-tensile rope, 30-tensile rope joint and 31-optical cable joint;

FIG. 8 is a schematic structural view of the retracting and releasing device in embodiment 2;

wherein: 3-photoelectric mooring cable, 18-cable collecting and releasing unit, 19-cable arranging unit, 21-traction mechanism, 22-tension detecting unit, 23-base and 24-cable releasing mechanism;

FIG. 9 is a schematic structural view of a cross-head sheave in the cable-laying mechanism according to embodiment 3;

wherein: 3-photoelectric mooring cable, 33-cable through hole, 34-transverse roller and 35-longitudinal roller;

fig. 10 is a schematic view of the connection between the force-bearing photoelectric composite rotary joint and the parafoil in embodiment 4.

Wherein: 3-photoelectric mooring cable, 5-load cabin, 36-hanging point connecting piece, 37-tension sensor, 38-photoelectric slip ring, 39-bearing component and 40-photoelectric interface.

Detailed Description

The invention is described in detail below by way of example with reference to the accompanying drawings.

Example 1:

the embodiment provides a towed parafoil that can repeatedly launch recovery, can launch the parafoil aloft through launching recovery unit, retrieves parafoil energy storage and is used for next parachute-opening when falling back, makes the parachute-opening place require greatly reduced, is applicable to more complicated topography and plays the parachute.

This towed punching press parafoil that can launch and retrieve includes: the device comprises a parafoil, a folding and unfolding device 6 and an ejection recovery device 17, wherein the ejection recovery device 17 is arranged inside a load cabin 5 of the parafoil or on the upper end surface of the load cabin 5; the retraction device 6 pulls the parafoil through the photoelectric mooring cable 3. In use, the retraction device 6 may be mounted on a vehicle/boat.

As shown in fig. 1, the parafoil comprises: canopy 1, parafoil rope 2 and load compartment 5. The canopy 1 is connected with the load compartment 5 through a left parachute rope group and a right parachute rope group (the longitudinal direction of the parafoil is taken as the left-right direction), and the parafoil rope groups on the left side and the right side are respectively a left parafoil rope group and a right parafoil rope group for convenience in description; the middle part of each parafoil rope 2 is provided with a parafoil knot 4, one end of the parafoil rope 2 is connected with a load compartment 5, and the other end is divided into a plurality of parafoil rope branches through the parafoil knots 4 and then connected with the canopy 1 (namely, the parafoil rope branches are converged into one strand through the parafoil knots 4 and are connected with the load compartment 5 as the parafoil rope 2). Meanwhile, the photoelectric mooring cable 3 is connected with a load cabin 5 in the parafoil and is used for transmitting photoelectric signals of electronic equipment in the load cabin 5.

The canopy 1 comprises an upper wing surface and a lower wing surface which are made of wing umbrella cloth, a plurality of wing umbrella ribs are arranged between the upper wing surface and the lower wing surface, and the wing umbrella ribs are uniformly distributed at intervals along the transverse direction (unfolding direction) of the wing umbrella to form a plurality of air chambers (the area surrounded by the upper wing surface and the lower wing surface between every two wing umbrella ribs is an air chamber). The front edge of the canopy is provided with a parafoil air inlet so that air can enter to form an air chamber. The rib pieces of the parafoil are provided with vent holes, which is convenient for air circulation among air chambers, so as to ensure that the canopy is quickly inflated and the pressure of each air chamber is uniform.

The ejection recovery device 17 is arranged inside the load cabin 5 or on the upper end surface of the load cabin 5, when the ejection recovery device is arranged inside the load cabin 5, an opening is arranged at a position corresponding to the ejection recovery device on the upper surface of the load cabin 5, the opening can be automatically programmed and controlled (or can be remotely controlled or remotely controlled through the load cabin 5) to close the opened and closed cover body (when the parafoil needs to be recovered, the cover body is remotely controlled to be opened), or the cover body is not arranged, so that the cover body is always in an open state.

As shown in fig. 2, a comb rope claw 15 is respectively arranged at the left side and the right side of the ejection recovery device 17, and the two comb rope claws 15 are respectively connected with the ejection recovery device 17 through guide ropes; the rope combing claw 15 is used for combing the parachute ropes and drawing the parachute ropes to slide to the ejection recovery device 17 on the load compartment 5 through the guide rope.

As shown in fig. 3, the twine comb 15 includes: a cross well wheel plate 9, a fixed claw 10 and a fixed ring 11; the cross-shaped well wheel plate 9 is round or square and used for fixing the cross-shaped well wheel, and the cross-shaped well wheel plate 9 is made of plates such as nylon or ultra-high molecular weight polyethylene. Cross well wheels with the same number as the parachute ropes in the left parachute rope group (or the right parachute rope group) are fixed on the cross well wheel plate 9, the parachute ropes correspond to the cross well wheels one by one, specifically, a plurality of cross well wheel holes 13 are formed in the cross well wheel plate 9, and one cross well wheel is installed in each cross well wheel hole 13; the parafoil rope in the parafoil rope group (or the parafoil rope group) passes through the cross well wheel corresponding to the parafoil rope group, and the parafoil rope is combed through the cross well wheel, so that the parafoil ropes are not mutually wound. The fixing claws 10 are made of round spring steel materials, so that the fixing claws have certain elastic force when being compressed; stationary dog 10 one end links to each other with cross well wheel board 9, and the other end links to each other with solid fixed ring 11, specifically is: one end of the fixed claw 10 is a claw end, the other end is an end head, the claw end is connected with the cross well wheel plate 9 through a plurality of claw heads, and the end part of the fixed claw is provided with a fixed ring 11; the fixing ring 11 is of a circular ring structure and is made of metal materials or light high-strength non-metal plates such as nylon, ultra-high molecular weight polyethylene and the like; a plurality of fixing ring insertion holes 12 used for connecting the ends of the fixing claws 10 are formed in the fixing ring 11 along the circumferential direction of the fixing ring, and the ends of the fixing claws 10 are inserted into the fixing ring insertion holes 12 and are welded or fixed by threads; the end heads of the fixed claws are always positioned in the insertion holes 12 of the fixed ring, and the outer surface of the fixed ring 11 is ensured to be smooth. The fixing claw 10 has elasticity to ensure that the parafoil or the parafoil rope is separated from the rope combing claw 15 in time when the pulling force disappears. The rope combing claws 15 are connected with the ejection recovery device 17 through guide ropes respectively, wherein one ends of the guide ropes are connected with the fixing rings 11, and the other ends of the guide ropes are connected with the ejection recovery device 17.

Because the parafoil rope 2 is directly used as the ejection recovery rope, in order to realize the recovery of the parafoil, a rope knot buckle is arranged at each parafoil rope knot; the knot is made of plastics such as nylon, pvc, its centre bore is the bell mouth, one end is the macropore one end and is the aperture, wherein macropore aperture is greater than the size of parafoil knot 4, the aperture of aperture is less than the size of parafoil knot 4, parafoil knot 4 can't drop from the aperture end after getting into the knot centre bore from the macropore end of knot (also can bond parafoil knot 4 inside the knot), then through pulling down parafoil rope 2, drive knot move down with comb rope claw 15 cross well wheel board 9 contact, and then drive cross well wheel board 9 and push down stationary dog 10 energy storage.

As shown in fig. 4, the ejection recovery device 17 includes: the elastic frame 51, the folding and unfolding rope in the parafoil, the guide rope, the left elastic plate 56, the right elastic plate 52, the left elastic cloth 61 and the right elastic cloth 65; wherein the elastic frame 51 is arranged on the surface of the load cabin or in the load cabin and is used for ejecting and releasing the parafoil; the middle positions of the left and right sides of the elastic frame 51 are respectively provided with a parafoil rope left fixing bolt 59 and a parafoil rope right fixing bolt 68; the parafoil rope in the left parafoil rope group is combed by a rope combing claw positioned on the left side of the ejection recovery device 17 and then is connected with a parafoil rope left fixing bolt 59; the parafoil ropes in the right parafoil rope group are combed by the combing rope claws on the right side of the ejection recovery device 17 and then are connected with the parafoil rope right fixing bolt 68; the parafoil rope left fixing bolt 59 and the parafoil rope right fixing bolt 68 are used as the left and right acting points of the parafoil to lift the load cabin; the parafoil rope is fixed on the load cabin, so that the parafoil has good stability.

Small retraction mechanisms are arranged in the fixed claws 10 at the left side and the right side and are fixed on the fixed ring 11 and the fixed claws 10; one end of a folding and unfolding rope in the parafoil is fixedly connected with the parafoil fins, the other end of the folding and unfolding rope in the parafoil penetrates through a folding and unfolding rope buckle hole in the parafoil fins and a cross-shaped shaft wheel hole corresponding to the comb rope claw 15 and then is connected with a winding drum of a small folding and unfolding mechanism, the small folding and unfolding mechanism is used for folding and unfolding the folding and unfolding rope in the parafoil to realize the automatic extension and adjustment of the parafoil surface and assist the parafoil folding and unfolding function, and therefore the rapid folding and unfolding and pneumatic appearance adjusting functions of the parafoil are realized. Specifically, the method comprises the following steps:

as shown in fig. 5, the inner collapsible rope of the parafoil comprises: one end of each of the left folding and unfolding rope and the right folding and unfolding rope is respectively connected with the end parts of the left end and the right end of the parafoil, and the other end of each of the left folding and unfolding rope and the right folding and unfolding rope is respectively wound on the winding drums of the small folding and unfolding mechanisms in the rope combing claws 15 on the left side and the right side; the lower wing surface 119 of the central part of the parafoil is provided with a rope-collecting buckle which is in one-to-one correspondence with the folding and unfolding ropes, each parafoil rib 118 is provided with a rope-collecting buckle 20, the rope-collecting buckle 20 is used for enabling the folding and unfolding ropes to pass through and has a guiding effect on the folding and unfolding ropes, and after the left folding and unfolding rope and the right folding and unfolding rope pass through the rope-collecting buckle 20 on the lower wing surface of the central part of the parafoil, the left folding and unfolding rope and the right folding and unfolding rope respectively pass through the rope-collecting buckle 20 on the parafoil rib on the left side and the rope-collecting buckle 20 on the parafoil rib on the right side, and then the two rope-collecting buckles on the parafoil ribs at the left end and the right end of the parafoil are fixedly connected or fixed by adopting rope knots. The folding and unfolding rope can slide in the rope folding buckles 20 of the rib pieces of the parafoil, and the rope folding buckles 20 are made of ultra-high molecular weight polyethylene or nylon materials (without limiting other materials), so that certain hardness and smoothness are kept. The rope-collecting button 20 is a hollow button or a hidden button or other hollow hard connecting buttons, so that the rope can be conveniently drawn and unfolded through the central hole of the rope-collecting button. The contraction and expansion rope is made of ultra-high molecular weight polyethylene materials or nylon materials with tensile property, high strength, light weight, wear resistance and other properties (without limitation to other materials). The part of the folding and unfolding rope in the parafoil, which is positioned in the parafoil, adopts an elastic nylon braided rope (elastic band), so that the parafoil can be quickly returned when being unfolded; the part outside the parafoil is made of nylon braided ropes without elasticity, and is integrally manufactured, so that the appearance is consistent.

When the wing umbrella rope needs to be folded, the small folding and unfolding mechanism in the rope combing claw synchronously works to pull the folding and unfolding rope in the wing umbrella to assist in folding the umbrella, so that the umbrella folding efficiency is improved; when the parafoil is in place, the small folding and unfolding mechanism is powered off, and the clutch at the output end of the motor of the small folding and unfolding mechanism is in a normally open state to release the folding and unfolding rope in the parafoil, so that the parafoil is kept in a good folded appearance state, and meanwhile, the elastic nylon braided rope is also in a loose state, thereby facilitating the unfolding of the parafoil next time.

The elastic frame 51 is of a hollow frame structure, a left elastic plate 56 (a right elastic plate 52) is arranged at the center of the left (right) side in the frame of the elastic frame 51, and the front side and the rear side of the left elastic plate 56 (the right elastic plate 52) are connected with the front side and the rear side of the elastic frame 51 through a left elastic plate elastic rope 57 (a right elastic plate elastic rope 53); the left side (right side) of the left elastic plate 56 (right elastic plate 52) is connected with a left elastic cloth 61 (right elastic cloth 65), and the front and back sides of the left elastic cloth 61 (right elastic cloth 65) are connected with the front and back sides of the elastic frame 51 through a left elastic cloth elastic rope 58 (right elastic cloth elastic rope 67); meanwhile, the left side of the left elastic cloth 61 is connected with the left side edge of the elastic frame 51 through a left elastic cloth elastic rope 58, and the right side of the right elastic cloth 65 is connected with the right side edge of the elastic frame 51 through a right elastic cloth elastic rope 67; the left and right elastic ropes are arranged in a T shape, so that the parafoil can be lifted upwards by ejection, and the kinetic energy of the parafoil ejected to two sides is facilitated for lifting and unfolding the parafoil. The left elastic cloth 61 (the right elastic cloth 65) is used for guiding the rope combing claw to slide to the middle hole of the elastic plate, and meanwhile, the stretching force of the left elastic cloth 61 (the right elastic cloth 65) provides elastic force to two sides, so that the parafoil is ejected to two sides to be unfolded, and the parafoil is convenient to inflate.

The center of left elastic plate 56 (right elastic plate 52) is provided with left elastic plate restriction hole 62 (right elastic plate restriction hole 64) for with correspond the solid fixed ring 11 cooperation on the side comb rope claw 15, comb rope claw 15 under the drawing of guide rope, thereby make solid fixed ring 11 with correspond the elastic plate restriction hole cooperation on the side elastic plate, thereby stretch the elastic rope (including elasticity cloth elastic rope and elastic plate elastic rope) energy storage through pushing down the elastic plate.

One end of the left guide rope 60 (the right guide rope 66) is connected with the rope combing claw 15 positioned on the left side (the right side) of the ejection recovery device 17 (fixed on the rope combing claw through an inner hole of a rope combing claw fixing ring), and the other end of the left guide rope passes through the left elastic plate limiting hole 62 (the right elastic plate limiting hole); then, the left guide rope 60 and the right guide rope 66 are converged into one rope, the rope passes through the concave bracket center hole 63 of the concave bracket 54 positioned in the middle of the elastic frame 51, and then is connected with a guide rope reel arranged on the load compartment, and the winding and unwinding of the left guide rope 60 (the right guide rope 66) are controlled through the guide rope reel. The left guide rope 60 (right guide rope 66) adopts a tensile cable, and can supply power to the small-sized internal retracting mechanism of the rope combing claw 15. The concave support 54 is used for enhancing the strength of the parachute elastic frame, the middle part of the concave support is lower, the descending of the elastic plate and the pulling length of the elastic rope are ensured, and sufficient elasticity is ensured; the holes in the holes 63 in the concave bracket are smooth so that the left and right guide ropes are not worn, or a cross well wheel is arranged in the holes 63 in the concave bracket.

The operating principle of the ejection recovery device 17 is as follows:

after the left parafoil rope group and the right parafoil rope group respectively pass through the cross well wheel holes of the left and right combing rope claws 15, the guide ropes on the corresponding sides are drawn to slide towards the elastic frame 51, and when the fixing rings 11 of the combing rope claws 15 and the elastic frame 51 act on the elastic plate limiting holes on the corresponding sides, the elastic ropes (including elastic plate elastic ropes and elastic cloth elastic ropes) are stretched to store energy for parafoil ejection.

To increase the tensile capacity of the photovoltaic mooring line 3, a photovoltaic mooring line 3 as shown in fig. 5 and 6 is used. The cross-section of the photovoltaic mooring line 3 is configured as shown in fig. 5, and includes: an outer jacket 27, and a tensile strand 29, an electrical cable 25, and a fiber optic cable 26 disposed within the outer jacket 27. Wherein the outer sheath 27 is a lightweight plastic or rubber-like wear resistant protective sheath. The tensile rope 29 is used for realizing the function of bearing tensile force of the optical cable and is woven by light tensile non-metal material silk threads such as Kevlar or ultra-high molecular weight polyethylene. The cable 25 is for transmitting electrical signals, and includes: the copper conductor and the insulating layer extruded outside the copper conductor, and the insulating layer is made of irradiation cross-linked polyethylene. The optical cable 26 is used for transmitting optical signals and comprises an optical cable, a light-weight plastic or gum protective outer layer wrapping the outside of the optical cable, and a Kevlar or ultra-high molecular weight polyethylene filling layer arranged between the optical cable and the protective outer layer.

The whole connection relationship is as follows: the tensile cord 29 is arranged in the central position inside the outer sheath 27, and a plurality of single-stranded optical cables 26 and a plurality of single-stranded cables 25 are uniformly distributed at intervals along the circumferential direction in an annular cavity between the tensile cord 29 and the outer sheath 27, wherein two single-stranded optical cables 26 and two single-stranded cables 25 are arranged in the embodiment. Kevlar or ultra-high molecular weight polyethylene fiber is filled in an annular cavity between the tensile rope 29 and the outer sheath 27 to serve as a filler 28 so as to protect and position the optical cable 26 and the electric cable 25 and ensure that the surface of the filler has no protrusion.

As shown in fig. 6, the joints at both ends of the photovoltaic mooring line 3 are bifurcated according to the function requirement, i.e. the joints at the ends of the photovoltaic mooring line 3 are divided into a tensile cord joint 30 and a photovoltaic cable joint 31. The tensile rope joint 30 is mainly used for bearing tensile force, the tensile rope joint 30 takes a tensile rope 29 as a reference rope, the tensile rope 29 is extended to the outside of the outer sheath 27 for a certain length, or after a Kevlar or ultra-high molecular weight polyethylene wire is externally connected to the end part of the tensile rope 29, the end part of the tensile rope is woven into a joint (such as a circle, a square, a rectangle and the like) convenient to fix according to the fixed structure characteristics and requirements, after the tensile rope joint 30 is woven, other environment-resistant adaptive materials such as water resistance, salt fog resistance and the like are filled, the surface of the joint is ensured not to be bulged, and finally, a plastic or rubber high-strength wear-resistant outer sheath is arranged outside the tensile rope joint 30. The cables 25 and the optical cables 26 inside the outer sheath 27 are used for achieving a photoelectric communication function, when the optical cable connector 31 is arranged, all the cables 25 and the optical cables 26 extend to the outside of the outer sheath 27, then are woven again, other environment-resistant adaptive materials such as water resistance materials, salt fog resistance materials and the like are filled, it is ensured that no protrusion exists on the surface of a filler, and finally, an outer sheath and a photoelectric conversion connector of a conventional protective optical cable are manufactured. When the photoelectric mooring cable 3 is used, the tensile rope joint 30 is connected with a load, and tensile force is borne by the tensile rope 29; the optical signal is transmitted through the optical cable connector 31.

Example 2:

as shown in fig. 7, the storing and releasing device includes: an electronic control unit, a base 23, and a cable take-up and pay-off unit 18, a cable arrangement unit 19 and a traction mechanism 4 which are mounted on the base 23. The automatic traction and retraction device is connected with the load cabin through a photoelectric mooring cable 3 (the photoelectric mooring cable 3 is used as a carrier for optical fiber signal transmission and current conduction), and the height of the parafoil in the air is controlled by controlling the retraction of the photoelectric mooring cable 3. The method specifically comprises the following steps: the photoelectric mooring cable 3 wound on the cable-retracting unit 18 is connected with the parafoil after sequentially passing through the cable-arranging unit 19 and the traction mechanism 21.

Wherein receive and release cable unit 18 and be used for storing receiving and releasing of photoelectricity mooring line 3 and photoelectricity mooring line 3, specifically include: receive cable power pack and drum, wherein receive cable power pack and include: the cable-retracting mechanism comprises a power source consisting of a cable-retracting motor and a speed reducer, a cable-retracting transmission shaft and two cable-retracting synchronous belt transmission mechanisms. Wherein receive and release cable synchronous belt drive mechanism and include: the annular belt is a toothed belt, namely the working surface of the annular belt is toothed, the surfaces of the rims of the driving wheel and the driven wheel are also made into corresponding toothed shapes, and the annular belt is in transmission with the driving wheel and the driven wheel by means of meshing of the teeth. The integral connection relation of the cable retracting unit is as follows: receive the cable motor and be exchanging inverter motor, its output shaft directly links with the reduction gear, and the cable transmission shaft is received in the reduction gear output connection, receives cable transmission shaft axial both ends and respectively sets up one set of receipts and releases cable synchronous belt drive mechanism, specifically does: two ends of the cable take-up transmission shaft are coaxially and fixedly connected with driving wheels of the cable take-up and pay-off synchronous belt transmission mechanisms respectively, driven wheels of the two cable take-up and pay-off synchronous belt transmission mechanisms are coaxially connected to two axial ends of the wire coil respectively, and therefore the cable take-up transmission shaft drives the wire coil to rotate through the two cable take-up and pay-off synchronous belt transmission mechanisms. The photoelectric mooring cable 3 is wound on the wire coil and drives the wire coil to rotate forwards or reversely, so that the photoelectric mooring cable 3 is wound and unwound. The wire coil can be uniformly stressed by adopting the driving mode. When a wire coil needs to be braked, the cable-retracting motor is directly braked by the brake of the cable-retracting motor. The cable-collecting motor adopts a torque mode frequency converter to control the rotating speed, so that the synchronization with traction can be ensured, and the torque can be set.

Installation interface is reserved to drum one end for install the photoelectricity sliding ring, and the photoelectricity sliding ring is the electrical interface of photoelectricity mooring line 3, sets up at 3 ends of photoelectricity mooring line as the switching interface, and electric wire, optic fibre in the photoelectricity mooring line 3 are connected with the photoelectricity sliding ring, thereby realize the transmission of electricity, light signal. The installation interface and the wire coil shaft core are formed in one-step machining mode, and the concentricity of the wire coil shaft core and the photoelectric slip ring is guaranteed. A plurality of axial grooves are uniformly distributed on the outer circumferential surface of the wire coil along the circumferential direction, through holes are drilled at the bottoms of the grooves and used for ventilating the photoelectric mooring cables wound on the wire coil, an air blower is installed on one axial side of the wire coil, and the photoelectric mooring cables on the wire coil are ventilated and cooled when the traction winding and unwinding device works.

The cable arranging unit 19 is used for ensuring the orderly arrangement of the photoelectric mooring cables 3 on the wire coil, and the cable arranging unit 19 is supported above the cable retracting unit 18 and is parallel to the wire coil. When the cable is wound and unwound, the winding displacement unit 2 can move for the distance of one diameter of the photoelectric mooring cable along the axial direction every time the cable drum rotates for one circle, so that the photoelectric mooring cable 3 is orderly arranged on the cable drum. The wire arranging unit 19 includes: arrange cable support, arrange cable power pack, arrange cable lead screw and arrange the cable polished rod. The cable arranging unit is supported above the cable retracting unit 18 through a cable arranging support, so that the automatic retracting device is compact in structure. The axis of the cable arranging lead screw is parallel to the axis of the wire coil. The cable arranging power unit comprises: arrange cable motor, reduction gear, row cable transmission shaft and row cable synchronous belt drive mechanism, arrange the cable motor and adopt servo motor, arrange the power take off end of cable motor and directly link with the reduction gear, the output of reduction gear connects row cable transmission shaft, arranges the axial both ends of cable transmission shaft and respectively sets up one set of row cable synchronous belt drive mechanism (the structural style of arranging cable synchronous belt drive mechanism is the same with the structural style that the above-mentioned cable synchronous belt drive mechanism that receive and releases). Driven wheels of the two cable-arranging synchronous belt transmission mechanisms are respectively and coaxially connected to two axial ends of a cable-arranging lead screw, so that the cable-arranging transmission shafts drive the cable-arranging lead screw to rotate through the two cable-arranging synchronous belt transmission mechanisms, and the cable-arranging lead screw can be uniformly stressed by adopting the driving mode. The nut and the cable arranging screw rod are matched to form a screw rod and nut pair, and the rotation of the cable arranging screw rod is converted into the linear motion of the nut along the axis of the cable arranging screw rod. Meanwhile, the photoelectric mooring cable 3 penetrates through a photoelectric mooring cable hole in a wire seat connected with the nut and then is wound on the wire coil. In order to prevent the lead screw nut from being blocked due to bearing of large lateral tension, a cable arrangement polished rod axially parallel to the cable arrangement lead screw is arranged as a guide rail, and a linear guide rail is adopted to assist cable arrangement. The method specifically comprises the following steps: the nut end face is provided with a unthreaded hole parallel to the axis of the threaded hole and used for being sleeved on a cable arrangement polished rod, and the cable arrangement polished rod plays a guiding role in linear motion of the nut.

The nut compresses tightly the drum, and is located the front side of current winding position on the 3 winding directions of photoelectricity mooring line. The cable arranging motor is controlled by the electric control unit, when a cable is wound (namely, photoelectric mooring cables are arranged on a cable winding drum), the electric control unit controls the cable arranging motor to drive the cable arranging screw to rotate by tracking the rotation of the cable winding drum, the rotation of the cable winding drum is ensured for one circle, the moving distance of the nut along the cable arranging screw is the same as the diameter of a single photoelectric mooring cable, and the arrangement space of the next circle of photoelectric mooring cables 3 is reserved after the nut moves once, so that the photoelectric mooring cables 3 are orderly arranged on the cable winding drum along the axial direction of the cable winding drum; and the photoelectric mooring cables are arranged on the wire coil in a stacked manner through the reciprocating motion of the wire seat fixedly connected with the nut along the axial direction of the wire coil.

Meanwhile, the cable arrangement motor is controlled through the electric control unit, so that the photoelectric mooring cables can be accurately arranged on the wire coil according to a set pitch, and automatic reversing can be performed according to the limit positions at two axial ends of the wire coil. If the sensors (such as displacement sensors or limit switches) for detecting in-place are respectively arranged at the two axial ends of the wire coil, when the photoelectric mooring cable is discharged to the limit position (namely the position of the sensor in place), the sensors for detecting in-place send in-place signals to the electric control unit, and the electric control unit controls the cable arrangement motor to rotate reversely, so that automatic reversing is realized, and the stability and reliability of the cable arrangement are improved. Meanwhile, the electric control unit can detect the cable arrangement position in real time (for example, the movement distance of the nut is detected through the displacement sensor so as to obtain the cable arrangement position or the cable arrangement position is obtained through the image processing unit) and record the cable arrangement position, so that the phenomenon that the cable arrangement position cannot be determined next time due to power failure is prevented.

The traction mechanism 21 is used for providing power for winding and unwinding the photoelectric mooring cable 3, reducing tension on the photoelectric mooring cable 3 and avoiding larger tension from directly acting on a wire coil. The traction mechanism is supported on the base 23, is located in front of the cable retracting unit 18, and comprises: the two traction wheels synchronously rotate under the driving of the traction power unit; one end of the photoelectric mooring cable 3 is connected with a parafoil, and the other end of the photoelectric mooring cable firstly passes through the cable arranging unit 19 after being annularly wound on two traction wheels and then is wound on a wire coil of the cable collecting and releasing unit 18. The traction power unit consists of a traction motor and a speed reducer; wherein the traction motor adopts a double AC variable frequency motor. When the brake is needed, the traction motor is directly braked by the brake of the traction motor, so that the condition that the traction wheel cannot stop in time due to self inertia when rotating at a high speed is prevented. Meanwhile, the two traction motors are respectively provided with a manual brake device (the manual brake device is an accessory device of the traction motors and belongs to the prior art), when the parafoil is empty, the brake push rod is manually pushed into the traction wheel hole, and when the manual brake device is not released, the traction retraction device cannot work, so that the empty-staying safety of the parafoil is fully ensured. The traction motor is provided with a rotary encoder, so that the retraction length of the photoelectric mooring cable 3 can be accurately calculated, and related data can be displayed on the console in real time. When braking is needed, the traction mechanism 21 is decelerated firstly, and then the brake of the traction motor brakes the traction motor.

Because the wire coil in the cable reeling and unreeling unit 18 is driven by the cable reeling and unreeling motor, the cable arranging unit 19 is driven by the cable arranging motor, the traction mechanism 21 is driven by the traction motor, and the automatic reeling and unreeling of the photoelectric mooring cable 3 can be realized by controlling the cable reeling and unreeling motor, the cable arranging motor and the traction motor through the electric control unit. The electric control unit adopts a control mode of an operation interface (a touch screen) and a PLC (programmable logic controller), and the PLC is used as a core to control the operation of the automatic traction retraction device. The sending of the operation signals, the acquisition of various required signals and various operations are realized by the PLC. The touch screen is communicated with the PLC through a communication line, various set parameters are transmitted to the PLC, and the cable laying length of the photoelectric mooring cable during working is displayed in real time.

The automatic winding and unwinding device has three working modes: a cable laying mode, a dead space mode (or task mode) and a cable collecting mode. The states of buttons such as a cable releasing mode, a task mode, a cable collecting mode and the like on the touch screen and various set parameters are transmitted to the PLC through a communication line. The control brake, the cable laying length and the like are collected into the CPU of the electric control unit through the switching value of the CPU, analyzed and processed, and control instructions are sent to the traction mechanism 21, the cable laying unit 18 and the cable arranging unit 19. In order to ensure the running stability of the automatic winding and unwinding device of the photoelectric mooring cable and prevent accidents, the wire coil is provided with a corresponding brake resistor. The hand brake in the traction mechanism 21 is provided with a sensor to sense whether the brake is in place. Meanwhile, an emergency stop switch and a buzzer are configured for the automatic retraction device of the photoelectric mooring cable.

Example 3:

on the basis of the above embodiment 2, in order to pull the parafoil in any direction by the photoelectric mooring line 3, the damage due to the excessively small bending angle of the photoelectric mooring line 3 is avoided. A payout mechanism 24 is provided in the automatic payout device.

As shown in fig. 7, the cable releasing mechanism 24 is disposed at the cable outlet of the towing mechanism 21, that is, the optical mooring cable 3 is led out from the towing mechanism 21 and then connected to the parafoil through the cable releasing mechanism 24. The cable laying mechanism 24 includes: more than two 'well' wheels are arranged along the cable outlet direction of the photoelectric mooring cable 3, and the photoelectric mooring cable 3 sequentially passes through a cable passing hole 33 in the middle of each 'well' wheel; and along the cable outlet direction of the photoelectric mooring cable 3, the aperture of the cable through hole 33 in the middle of each well-shaped wheel is gradually increased, so that the cable through holes of all the well-shaped wheels are gradually enlarged in a horn shape.

As shown in fig. 8, the "well" word wheel includes: the photoelectric mooring cable comprises a roller bracket, four roller shafts and four straight roller wheels, wherein each straight roller wheel is supported on the roller bracket through one roller shaft, the four straight roller wheels are distributed in a groined shape, namely the four straight roller wheels are divided into two transverse roller wheels 35 and two longitudinal roller wheels 34, a rectangular hole formed between the two transverse roller wheels 35 and the two longitudinal roller wheels 34 is a cable through hole 33, the photoelectric mooring cable 3 penetrates through the cable through hole 33, and the photoelectric mooring cable 3 can freely rotate in the cable through hole 33.

Example 4:

on the basis of the embodiments 1 to 3, further, one end of the photoelectric mooring cable 3 connected with the load cabin 5 is connected with the load cabin 5 through a force-bearing photoelectric composite rotary joint; the photoelectric composite rotary joint has high tensile capacity, can bear large tension load and alternating tension load while dynamically and rotatably transmitting photoelectric signals, and can meet the use requirements of parafoil.

As shown in fig. 9, the force-bearing photoelectric composite rotary joint comprises: a tension sensor 37, a photoelectric slip ring 38 and a force bearing part 39; wherein the optoelectronic slip ring 38 is provided with an optoelectronic interface 40.

The opto-electronic slip ring 38 includes: rotor and stator, its stator end is provided with load part 39, and load part 39 connects photoelectricity sliding ring 38 and photoelectricity mooring line 3, specifically is: the force bearing part 39 is connected with the stator of the photoelectric slip ring 38 above the force bearing part through screws, and is connected with the photoelectric mooring cable 3 at the lower end through gluing. The rotor of the photoelectric slip ring 38 is connected with the hanging point connecting piece 36 through a tension sensor 37; the hanging points of the hanging point connecting pieces 36 are connected with the mooring points on the load cabin 5, and the tension sensor 37 is arranged to monitor the magnitude of mooring tension in real time.

In this example, the bearing part 39 is a frustum-shaped part, the large end of which is connected with the stator of the photoelectric slip ring 38, and the small end of which is bonded with the photoelectric mooring cable 3; the bearing part 39 is made of corrosion-resistant high-strength titanium alloy material, the strength of the titanium alloy material is 3-5 times that of steel, and the flexible connecting structure of the photoelectric mooring cable 3 and the photoelectric slip ring 38 is converted into a rigid structure which is easy to fix and install by arranging the bearing part 39.

In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. Can launch towed punching press parafoil of retrieving, its characterized in that: the method comprises the following steps: the parachute, a folding and unfolding device (6), a combing rope claw (15) and an ejection recovery device (17); the retraction device (6) pulls the parafoil through the photoelectric mooring cable (3);

the parafoil comprises: the umbrella comprises an umbrella coat (1), a left parafoil rope group, a right parafoil rope group and a load cabin (5); the canopy (1) is connected with the load cabin (5) through a left parafoil rope group and a right parafoil rope group respectively;

the ejection recovery device (17) is arranged in the load cabin (5) or on the upper end surface of the load cabin (5), and when the ejection recovery device is arranged in the load cabin (5), an opening is formed in the position, corresponding to the ejection recovery device (17), on the upper surface of the load cabin (5);

the left side and the right side of the ejection recovery device (17) are respectively provided with a rope combing claw (15), the two rope combing claws (15) are respectively connected with the ejection recovery device (17) through guide ropes, and the rope combing claws (15) are used for combing the wing umbrella ropes and drawing the wing umbrella ropes to move towards the ejection recovery device (17) on the load cabin (5) through the guide ropes;

the ejection recovery device comprises: the elastic frame (51), the folding and unfolding rope in the parafoil, the guide rope, the elastic plate and the elastic cloth; the elastic frame (51) is arranged on the surface of the load cabin or in the load cabin; the elastic frame (51) is of a hollow frame structure, elastic plates are arranged at the center positions of the left side and the right side in the frame of the elastic frame (51), and the front side and the rear side of each elastic plate are connected with the front side and the rear side of the elastic frame (51) through elastic ropes of the elastic plates;

elastic cloth is arranged on the opposite sides of the two elastic plates, and the front edge and the rear edge of the elastic cloth are connected with the front side and the rear side of the elastic frame (51) through elastic ropes of the elastic cloth;

meanwhile, the left side of the elastic cloth positioned on the left side is connected with the left side of the elastic frame (51) through an elastic rope of the elastic cloth, and the right side of the elastic cloth positioned on the right side is connected with the right side of the elastic frame (51) through an elastic rope of the elastic cloth;

the center of the elastic plate is provided with a left elastic plate limiting hole which is used for being matched with a fixing ring (11) on the corresponding side rope combing claw (15); the guide rope is used for guiding the rope combing claw (15) to move towards the elastic plate on the corresponding side;

the folding and unfolding rope in the parafoil comprises: more than one left folding and unfolding rope and more than one right folding and unfolding rope, wherein folding and unfolding mechanisms are arranged in the rope combing claws (15) at the left side and the right side of the ejection recovery device (17); one end of each of the left folding and unfolding rope and the right folding and unfolding rope is respectively connected with the end parts of the left end and the right end of the parafoil, and the other end of each of the left folding and unfolding rope and the right folding and unfolding rope is respectively connected with a folding and unfolding mechanism in the corresponding side combing rope claw (15); the folding and unfolding rope in the parafoil is folded and unfolded through the folding and unfolding mechanism, so that the parafoil is folded and unfolded;

the parachute rope is used as a launch recovery traction rope, each parachute rope is provided with a parachute knot (4), a knot buckle is arranged at the parachute knot (4), and the parachute knot (4) is limited in a center hole of the knot buckle.

2. Catapult-retractable trailing ram-wing umbrella according to claim 1, characterized in that the comb cord claw (15) comprises: a cross well wheel plate (9), a fixed claw (10) and a fixed ring (11);

the cross well wheel plate (9) is fixedly provided with cross well wheels which correspond to the wing umbrella ropes in the corresponding wing umbrella rope groups one by one, and the wing umbrella ropes penetrate through the cross well wheels corresponding to the wing umbrella ropes on the cross well wheel plate (9);

the fixed claw (10) is an elastic claw; one end of the fixed claw (10) is connected with the cross well wheel plate (9), and the other end of the fixed claw is connected with the fixed ring (11).

3. The catapult-retractable trailing ram parachute according to claim 1, wherein a parachute cord left fixing bolt (59) and a parachute cord right fixing bolt (68) are respectively arranged at the middle positions of the left side and the right side of the elastic frame (51); the parafoil rope in the left parafoil rope group is combed by a rope combing claw positioned on the left side of the ejection recovery device (17) and then is connected with a parafoil rope left fixing bolt (59); the parafoil rope in the right parafoil rope group is combed by a rope combing claw positioned on the right side of the ejection recovery device (17) and then is connected with a parafoil rope right fixing bolt (68).

4. The catapult-retractable trailing ram parachute according to claim 1, wherein one end of the guide rope is connected to the rope combing claw (15), the other end of the guide rope passes through the elastic plate limiting hole corresponding to the center of the elastic plate on the side, then, the left and right guide ropes are gathered into a strand of rope, the strand of rope passes through the bracket located at the middle position of the elastic frame (51), and then the strand of rope is connected to the guide rope reel arranged on the load compartment, and the retraction of the guide rope is controlled by the guide rope reel.

5. The catapult-retractable trailing ram parachute of claim 1, characterized in that the guide rope is a cable capable of powering a retraction mechanism in the comb rope claw (15).

6. The catapult-retractable trailing ram parachute of claim 4, characterized in that the support in the middle of the resilient frame (51) is a concave support.

7. An ejectable recovery trailing ram air parachute according to any of claims 1-6, wherein the photovoltaic mooring line (3) comprises: the cable comprises an outer sheath (27), a cable (25), an optical cable (26), a tensile rope (29), a tensile rope joint (30) and an optical cable joint (31);

the tensile rope (29) is arranged inside the outer sheath (27) and is used for bearing tensile force; arranging more than one optical cable (26) and more than one electric cable (25) in an annular cavity between the tensile rope (29) and the outer sheath (27), then filling a filler (32) in the annular cavity, and protecting the optical cable (26) and the electric cable (25) through the filler (32) to isolate and position the optical cable (26) and the electric cable (25) from each other;

both ends of the photoelectric mooring cable (3) are provided with a tensile rope joint (30) and a photoelectric cable joint (31); the tensile rope joint (30) is connected with the tensile rope (29) inside the outer sheath (27), and the optical cable joint (31) is a photoelectric conversion joint connected with the cable (25) and the optical cable (26) inside the outer sheath (27).

8. An ejectable recovery trailing ram air parachute according to any of claims 1-6, characterized in that the retraction device (6) comprises: the device comprises an electric control unit, a cable winding and unwinding unit (18), a cable arrangement unit (19) and a traction mechanism (21), wherein one end of the photoelectric mooring cable (3) is wound on a wire coil of the cable winding and unwinding unit (18), and the other end of the photoelectric mooring cable passes through the cable arrangement unit (19) and the traction mechanism (21) in sequence and then is connected with a load cabin (5) of the parafoil; wherein the cable retracting unit (18) and the traction mechanism (21) are arranged on a base (23), and the cable arranging unit (19) is supported above the cable retracting unit (18); the electric control unit controls the automatic retraction of the photoelectric mooring cable (3) by controlling the cable retraction unit (18), the cable arrangement unit (19) and the traction mechanism (21).

9. An ejectable recovery trailing ram air parachute according to any of claims 1-6, wherein the photovoltaic mooring line (3) is connected to the load compartment of the parachute by a load bearing photovoltaic compound swivel;

the bearing photoelectric composite rotary joint comprises: the device comprises a tension sensor (37), a photoelectric slip ring (38) and a force bearing part (39); wherein the photoelectric slip ring (38) is provided with a photoelectric interface (40); the optoelectronic slip ring (38) comprises: the rotor and the stator, the stator end of which is provided with a bearing part (39), one end of the bearing part (39) is fixedly connected with the stator of the photoelectric slip ring (38), and the other end is connected with the photoelectric mooring cable (3); the rotor of the photoelectric slip ring (38) is connected with the hanging point connecting piece (36) through a tension sensor (37); and the hanging point on the hanging point connecting piece (36) is connected with the mooring point on the load cabin.

10. The catapult-assisted retractable trailing ram parachute according to claim 8, wherein a cable releasing mechanism (24) is provided in the retraction device, and the cable releasing mechanism (24) is provided at a cable outlet of the trailing mechanism (21);

the payout mechanism (24) comprises: the photoelectric mooring cable (3) sequentially penetrates through cable penetrating holes in the middles of the well-shaped wheels; along the cable outlet direction of the photoelectric mooring cable (3), the diameter of the cable through hole in the middle of each well-shaped wheel is gradually increased.

11. The ejectable recovery trailing ram parachute according to claim 10, wherein the "shaft" wheel of the mooring mechanism (24) comprises a wheel support, four wheel shafts, and four straight rollers, each of which is supported on the wheel support via one wheel shaft, the four straight rollers are distributed in a grid pattern, i.e. the four straight rollers are divided into two transverse rollers (35) and two longitudinal rollers (34), the hole formed between the two transverse rollers (35) and the two longitudinal rollers (34) is a cable through hole (33), the photovoltaic mooring cable (3) passes through the cable through hole (33), and the photovoltaic mooring cable (3) can rotate freely in the cable through hole (33).

12. An ejectable recovery trailing ram air parachute according to any of claims 1 to 6 wherein there are rope-retracting buckles (20) on the lower airfoil surface (119) in the central part of the parachute in one-to-one correspondence with the retraction ropes in the parachute, and a rope-retracting buckle (20) on each rib (118) of the parachute; the left folding and unfolding rope and the right folding and unfolding rope pass through the rope folding buckles on the lower wing surface of the central part of the parafoil and then respectively pass through the rope folding buckles on the rib pieces of the parafoil on the left side and the rope folding buckles on the rib pieces of the parafoil on the right side and then are connected with the folding and unfolding mechanisms in the rope combing claws (15) on the corresponding sides.